Robotics - Localization & Bayesian Filtering - AIRLab - Politecnico di ...

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Introduction Taxonomy Probability Recall Bayes Rule Bayesian Filtering Markov Localization42/58Bayes Filter Algorithm Example - 1The Robot And The Door - v2
Introduction Taxonomy Probability Recall Bayes Rule Bayesian Filtering Markov Localization43/58Bayes Filter Algorithm Example - 2The doorCan be open or closeinitial state is unknownThe robotCan act (stochastically) on the door:push: try to open the doornop: no operationSense (noisly) the door presencenear: read by sensor when door isclosefar: read by sensor when door isopenInitial Beliefbel(x 0 = open) = 0.5bel(x 0 = close) = 0.5Measurement Probabilitybel(z t = far|x t = open) = 0.6bel(z t = near|x t = open) = 0.4bel(z t = far|x t = close) = 0.2bel(z t = near|x t = close) = 0.8
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Page 3 and 4: Introduction Taxonomy Probability R
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Robotics - Localization & Bayesian Filtering - AIRLab - Politecnico di ...

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